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Controller area network (bxCAN)
Figure 205. CAN frames
RM0008
Inter-Frame Space
Data Frame (Standard identifier)
44 + 8 * N
Inter-Frame Space
or Overload Frame
Arbitration Field
32
ID
Ctrl Field
6
DLC
Data Field
8*N
CRC Field
16
CRC
Ack Field
2
7
EOF
Inter-Frame Space
Inter-Frame Space
Data Frame (Extended Identifier)
64 + 8 * N
or Overload Frame
Arbitration Field
Arbitration Field Ctrl Field
Data Field
CRC Field Ack Field
32
32
6
8*N
16
2
7
ID
Inter-Frame Space
Remote Frame
44
DLC
CRC
EOF
Inter-Frame Space
or Overload Frame
Arbitration Field
Ctrl Field
CRC Field
Ack Field
32
ID
6
DLC
16
CRC
2
7
EOF
Data Frame or
Inter-Frame Space
Remote Frame
Error Frame
or Overload Frame
Notes:
Error
Flag
6
Flag Echo Error Delimiter
6 8
Data Frame or
0 <= N <= 8
SOF = Start Of Frame
ID = Identifier
RTR = Remote Transmission Request
IDE = Identifier Extension Bit
Any Frame
Inter-Frame Space
R emot e Frame
r0 = Reserved Bit
Intermission Transmission
End Of Frame or
Error Delimiter or
3
Suspend
8
Bus Idle
Inter-Frame Space
DLC = Data Length Code
CRC = Cyclic Redundancy Code
Error flag: 6 dominant bits if node is error
active else 6 recessive bits.
Suspend transmission: applies to error
Overload Delimiter
Overload Frame
or Error Frame
passive nodes only.
22.8
Overload Overload
Flag Echo
6 6
bxCAN interrupts
Overload
Delimiter
8
EOF = End of Frame
ACK = Acknowledge bit
Ctrl = Control
ai15154
Four interrupt vectors are dedicated to bxCAN. Each interrupt source can be independently
enabled or disabled by means of the CAN Interrupt Enable Register (CAN_IER).
560/995
Doc ID 13902 Rev 9
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